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Article
Publication date: 17 October 2018

Marcin Chodnicki, Katarzyna Bartnik, Miroslaw Nowakowski and Grzegorz Kowaleczko

The motivation to perform research on feedback control system for unmanned aerial vehicles, a fact that each quadrocopter is unstable.

Abstract

Purpose

The motivation to perform research on feedback control system for unmanned aerial vehicles, a fact that each quadrocopter is unstable.

Design/methodology/approach

For this reason, it is necessary to design a control system which is capable of making unmanned aerial vehicle vertical take-off and landing (UAV VTOL) stable and controllable. For this purpose, it was decided to use a feedback control system with cascaded PID controller. The main reason for using it was that PID controllers are simple to implement and do not use much hardware resources. Moreover, cascaded control systems allow to control object response using more parameters than in a standard PID control. STM32 microcontrollers were used to make a real control system. The rapid prototyping using Embedded Coder Toolbox, FreeRTOS and STM32 CubeMX was conducted to design the algorithm of the feedback control system with cascaded PID controller for unmanned aerial vehicle vertical take-off and landings (UAV VTOLs).

Findings

During research, an algorithm of UAV VTOL control using the feedback control system with cascaded PID controller was designed. Tests were performed for the designed algorithm in the model simulation in Matlab/Simulink and in the real conditions.

Originality/value

It has been proved that an additional control loop must have a full PID controller. Moreover, a new library is presented for STM32 microcontrollers made using the Embedded Coder Toolbox just for the research. This library enabled to use rapid prototyping while developing the control algorithms.

Details

Aircraft Engineering and Aerospace Technology, vol. 92 no. 3
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 29 March 2011

Chun‐Fei Hsu, Chien‐Jung Chiu and Jang‐Zern Tsai

The proportional‐integral‐derivative (PID) controller has been a practical application in industry due to its simple architecture, being easily designed and its parameter tuning…

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Abstract

Purpose

The proportional‐integral‐derivative (PID) controller has been a practical application in industry due to its simple architecture, being easily designed and its parameter tuning without complicated computation. However, the traditional PID controller usually needs some manual retuning before being used for practical application in industry. The purpose of this paper is to propose an auto‐tuning PID controller (ATPIDC) which can automatically tune the controller parameters based on the gradient descent method and the Lyapunov stability theorem. Finally, a field‐programmable gate array (FPGA) chip is adopted to implement the proposed ATPIDC scheme for possible low‐cost and high‐performance industrial applications, and it is applied to a DC servomotor to show its effectiveness.

Design/methodology/approach

To ensure the stability of the intelligent control system, a compensator usually should be designed. The most frequently used compensator is designed as a sliding‐mode control, which results in substantial chattering in the control effort. To tackle this problem, the proposed ATPIDC system is composed of a PID controller and a fuzzy compensator. The PID controller can automatically tune the gain factors of the controller gains based on the gradient descent method, and the fuzzy compensator is utilized to eliminate approximation error based on the Lyapunov stability theorem. The proposed fuzzy compensator not only can remove the chattering phenomena of conventional sliding‐mode control completely, but also can guarantee the stability of the closed‐loop system.

Findings

The proposed ATPIDC system is applied to a DC servomotor on a FPGA chip. The hardware implementation of the ATPIDC scheme is developed in a real‐time mode. Using the FPGA to implement, the ATPIDC system can achieve the characteristics of small size, fast execution speed and less memory. A comparison among the fuzzy sliding‐mode control, adaptive robust PID control and the proposed ATPIDC is made. Experimental results verify a better position tracking response can be achieved by the proposed ATPIDC method after control parameters training.

Originality/value

The proposed ATPIDC approach is interesting for the design of an intelligent control scheme. An on‐line parameter training methodology, using the gradient descent method and the Lyapunov stability theorem, is proposed to increase the learning capability. The experimental results verify the system stabilization, favorable tracking performance and no chattering phenomena can be achieved by using the proposed ATPIDC system. Also, the proposed ATPIDC methodology can be easily extended to other motors.

Details

International Journal of Intelligent Computing and Cybernetics, vol. 4 no. 1
Type: Research Article
ISSN: 1756-378X

Keywords

Article
Publication date: 6 July 2012

Soheil Ganjefar and Mohsen Farahani

Subsynchronous resonance (SSR) problem is often created in generator rotor systems with long shafts (non‐rigid shaft) and large inertias constituting a weakly damped mechanical…

Abstract

Purpose

Subsynchronous resonance (SSR) problem is often created in generator rotor systems with long shafts (non‐rigid shaft) and large inertias constituting a weakly damped mechanical system. When the electrical network resonance frequency (in which the transmission line is compensated by series capacitors) approaches shaft natural frequencies, the electrical system increases torsional torques amplitude on the shaft. The purpose of this paper is to propose a self‐tuning proportional, integral, derivative (PID) controller to damp the SSR oscillations in the power system with series compensated transmission lines.

Design/methodology/approach

To accommodate the PID controller in all power system loading conditions, the gradient descent (GD) method and a wavelet neural network (WNN) are used to update the PID gains on‐line. All parameters of the WNN are trained by the gradient descent method using adaptive learning rates (ALRs). The ALRs are derived from discrete Lyapunov stability theorem, which are applied to guarantee the convergence of the proposed control system. Also, the suggested controller is designed based on a non‐linear model.

Findings

The proposed self‐tuning PID controller is applied to a power system non‐linear model. Simulation results are used to demonstrate the effectiveness and performance of the proposed controller. It has been shown that self‐tuning PID is able to damp the SSR under any circumstances, because the WNN ensures the robustness of the controller. Simplicity and practicality of the proposed controller with its excellent performance make it ideal to be implemented in real excitation systems.

Originality/value

The proposed self‐tuning PID approach is interesting for the design of an intelligent control scheme based on non‐linear model to damp the torsional oscillations. In this suggested controller, the system conditions and requirements adjust on‐line the PID gains. On other words, to damp the SSR, PID gains are intelligently computed by the controlled system. The main contributions of this paper are: the overall control system is globally stable and hence, the SSR is controlled; the control error can be reduced to zero by appropriate chosen parameters and learning rates; and the self‐tuning PID can achieve favorable controlling performance.

Details

COMPEL - The international journal for computation and mathematics in electrical and electronic engineering, vol. 31 no. 4
Type: Research Article
ISSN: 0332-1649

Keywords

Article
Publication date: 16 February 2021

Himanshukumar R. Patel, Sejal K. Raval and Vipul A. Shah

The purpose of this article is about the design of controllers for conical two-tank noninteracting level (CTTNL) system in simulation. Local linearization around the equilibrium…

Abstract

Purpose

The purpose of this article is about the design of controllers for conical two-tank noninteracting level (CTTNL) system in simulation. Local linearization around the equilibrium point has been done for the nonlinear CTTNL system to obtain a linearized model transfer function.

Design/methodology/approach

This article deals with the design of novel optimal fractional-order tilt-integral-derivative (TID) controller using type-1 fuzzy set for the CTTNL prototype system. In this study, type-1 fuzzy TID controller parameters have been optimized through genetic algorithm (GA) and those set of values have been employed for the design of proportional-integral-derivative (PID) controller.

Findings

A performance comparison between FTID and PID controller is then investigated. The analysis shows the superiority of FTID controller over PID controller in terms of integral absolute error (IAE), integral square error (ISE), integral of time multiplied absolute error (ITAE) and integral of time multiplied squared error (ITSE) integral errors. The transient and steady state performance of the FTID controller are superior as compared to conventional PID controller. In future, the FTID controller fault-tolerance capability tested on CTTNL system subject to actuator and system component (leak) faults. The detailed study of robustness in presence of model uncertainties will be incorporated as a scope of further research.

Originality/value

A performance comparison between FTID and PID controller is then investigated. The analysis shows the superiority of FTID controller over PID controller in terms of IAE, ISE, ITAE and ITSE integral errors. Additionally, fault-tolerant performance of the proposed controller evaluated with fault-recovery time (Frt) parameter. The transient and steady state performance of the FTID controller are superior as compared to conventional PID controller.

Details

International Journal of Intelligent Computing and Cybernetics, vol. 14 no. 1
Type: Research Article
ISSN: 1756-378X

Keywords

Article
Publication date: 13 July 2021

Abdulsamed Tabak

The purpose of this paper is to improve transient response and dynamic performance of automatic voltage regulator (AVR).

Abstract

Purpose

The purpose of this paper is to improve transient response and dynamic performance of automatic voltage regulator (AVR).

Design/methodology/approach

This paper proposes a novel fractional order proportional–integral–derivative plus derivative (PIλDµDµ2) controller called FOPIDD for AVR system. The FOPIDD controller has seven optimization parameters and the equilibrium optimizer algorithm is used for tuning of controller parameters. The utilized objective function is widely preferred in AVR systems and consists of transient response characteristics.

Findings

In this study, results of AVR system controlled by FOPIDD is compared with results of proportional–integral–derivative (PID), proportional–integral–derivative acceleration, PID plus second order derivative and fractional order PID controllers. FOPIDD outperforms compared controllers in terms of transient response criteria such as settling time, rise time and overshoot. Then, the frequency domain analysis is performed for the AVR system with FOPIDD controller, and the results are found satisfactory. In addition, robustness test is realized for evaluating performance of FOPIDD controller in perturbed system parameters. In robustness test, FOPIDD controller shows superior control performance.

Originality/value

The FOPIDD controller is introduced for the first time to improve the control performance of the AVR system. The proposed FOPIDD controller has shown superior performance on AVR systems because of having seven optimization parameters and being fractional order based.

Details

COMPEL - The international journal for computation and mathematics in electrical and electronic engineering , vol. 40 no. 3
Type: Research Article
ISSN: 0332-1649

Keywords

Article
Publication date: 3 July 2017

Mehran Esmaeili, Hossein Shayeghi, Hamid Mohammad Nejad and Abdollah Younesi

This paper aims to propose an improved reinforcement learning-based fuzzy-PID controller for load frequency control (LFC) of an island microgrid.

Abstract

Purpose

This paper aims to propose an improved reinforcement learning-based fuzzy-PID controller for load frequency control (LFC) of an island microgrid.

Design/methodology/approach

To evaluate the performance of the proposed controller, three different types of controllers including optimal proportional-integral-derivative (PID) controller, optimal fuzzy PID controller and the proposed reinforcement learning-based fuzzy-PID controller are compared. Optimal PID controller and classic fuzzy-PID controller parameters are tuned using Non-dominated Sorting Genetic Algorithm-II algorithm to minimize overshoot, settling time and integral square error over a wide range of load variations. The simulations are carried out using MATLAB/SIMULINK package.

Findings

Simulation results indicated the superiority of the proposed reinforcement learning-based controller over fuzzy-PID and optimal-PID controllers in the same operational conditions.

Originality/value

In this paper, an improved reinforcement learning-based fuzzy-PID controller is proposed for LFC of an island microgrid. The main advantage of the reinforcement learning-based controllers is their hardiness behavior along with uncertainties and parameters variations. Also, they do not need any knowledge about the system under control; thus, they can control any large system with high nonlinearities.

Details

COMPEL - The international journal for computation and mathematics in electrical and electronic engineering, vol. 36 no. 4
Type: Research Article
ISSN: 0332-1649

Keywords

Article
Publication date: 2 April 2019

Tayfun Abut and Servet Soyguder

This paper aims to keep the pendulum on the linear moving car vertically balanced and to bring the car to the equilibrium position with the designed controllers.

1288

Abstract

Purpose

This paper aims to keep the pendulum on the linear moving car vertically balanced and to bring the car to the equilibrium position with the designed controllers.

Design/methodology/approach

As inverted pendulum systems are structurally unstable and nonlinear dynamic systems, they are important mechanisms used in engineering and technological developments to apply control techniques on these systems and to develop control algorithms, thus ensuring that the controllers designed for real-time balancing of these systems have certain performance criteria and the selection of each controller method according to performance criteria in the presence of destructive effects is very helpful in getting information about applying the methods to other systems.

Findings

As a result, the designed controllers are implemented on a real-time and real system, and the performance results of the system are obtained graphically, compared and analyzed.

Originality/value

In this study, motion equations of a linear inverted pendulum system are obtained, and classical and artificial intelligence adaptive control algorithms are designed and implemented for real-time control. Classic proportional-integral-derivative (PID) controller, fuzzy logic controller and PID-type Fuzzy adaptive controller methods are used to control the system. Self-tuning PID-type fuzzy adaptive controller was used first in the literature search and success results have been obtained. In this regard, the authors have the idea that this work is an innovative aspect of real-time with self-tuning PID-type fuzzy adaptive controller.

Details

Industrial Robot: the international journal of robotics research and application, vol. 46 no. 1
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 18 October 2021

Zafer Bingul and Oguzhan Karahan

The purpose of this paper is to address a fractional order fuzzy PID (FOFPID) control approach for solving the problem of enhancing high precision tracking performance and…

Abstract

Purpose

The purpose of this paper is to address a fractional order fuzzy PID (FOFPID) control approach for solving the problem of enhancing high precision tracking performance and robustness against to different reference trajectories of a 6-DOF Stewart Platform (SP) in joint space.

Design/methodology/approach

For the optimal design of the proposed control approach, tuning of the controller parameters including membership functions and input-output scaling factors along with the fractional order rate of error and fractional order integral of control signal is tuned with off-line by using particle swarm optimization (PSO) algorithm. For achieving this off-line optimization in the simulation environment, very accurate dynamic model of SP which has more complicated dynamical characteristics is required. Therefore, the coupling dynamic model of multi-rigid-body system is developed by Lagrange-Euler approach. For completeness, the mathematical model of the actuators is established and integrated with the dynamic model of SP mechanical system to state electromechanical coupling dynamic model. To study the validness of the proposed FOFPID controller, using this accurate dynamic model of the SP, other published control approaches such as the PID control, FOPID control and fuzzy PID control are also optimized with PSO in simulation environment. To compare trajectory tracking performance and effectiveness of the tuned controllers, the real time validation trajectory tracking experiments are conducted using the experimental setup of the SP by applying the optimum parameters of the controllers. The credibility of the results obtained with the controllers tuned in simulation environment is examined using statistical analysis.

Findings

The experimental results clearly demonstrate that the proposed optimal FOFPID controller can improve the control performance and reduce reference trajectory tracking errors of the SP. Also, the proposed PSO optimized FOFPID control strategy outperforms other control schemes in terms of the different difficulty levels of the given trajectories.

Originality/value

To the best of the authors’ knowledge, such a motion controller incorporating the fractional order approach to the fuzzy is first time applied in trajectory tracking control of SP.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 16 April 2020

Nikhil Pachauri

In a power system, the purpose of automatic voltage regulator (AVR) is the voltage control of synchronous generator. Power system stability and security depends on the AVR.

Abstract

Purpose

In a power system, the purpose of automatic voltage regulator (AVR) is the voltage control of synchronous generator. Power system stability and security depends on the AVR.

Design/methodology/approach

The present work is concentrated on the precise terminal voltage control of AVR system and simultaneously maintaining the stability of the system. Therefore, an optimal proportional–integral–derivative (PID) controller is proposed. An optimization technique inspired from Mother Nature, i.e. water cycle algorithm (WCA) is used to evaluate the optimum parameter values of PID controller leading to WCA-tuned PID (WCA-PID). The performance of WCA-PID is compared with other controller reported in the literature.

Findings

Simulation results show that WCA-PID regulates the terminal voltage more preciously and accurately in comparison to other controller. Further, it is more robust toward parametric uncertainty, set-point tracking and disturbance rejection in comparison to other controller reported in the literature.

Originality/value

The work is not published anywhere else.

Details

COMPEL - The international journal for computation and mathematics in electrical and electronic engineering , vol. 39 no. 3
Type: Research Article
ISSN: 0332-1649

Keywords

Article
Publication date: 7 March 2008

Srinivasan Alavandar and M.J. Nigam

The purpose of this paper is to present the control of a six degrees of freedom (DOF) robot arm (PUMA robot) using fuzzy PD + I controller. Numerical simulation using the dynamic…

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Abstract

Purpose

The purpose of this paper is to present the control of a six degrees of freedom (DOF) robot arm (PUMA robot) using fuzzy PD + I controller. Numerical simulation using the dynamic model of six DOF robot arm shows the effectiveness of the approach in trajectory tracking problems. Comparative evaluation with respect to PID and fuzzy PID controls are presented to validate the controller design. The results presented emphasize that a satisfactory tracking precision could be achieved using fuzzy PD + I controller combination than fuzzy PID controller.

Design/methodology/approach

Control of a six DOF robot arm (PUMA Robot) using fuzzy PD + I controller.

Findings

The performance of fuzzy PD + I controllers improves appreciably compared to their respective fuzzy PID only or conventional PID counterparts.

Originality/value

Complexity of the proposed fuzzy PID controller is minimized as possible and only two design variables are used to adjust the rate of variations of the proportional gain and derivative gain.

Details

Industrial Robot: An International Journal, vol. 35 no. 2
Type: Research Article
ISSN: 0143-991X

Keywords

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